MICROCONTROLLEURS

TP 11
Marin Iuliana
Robot autonome

https://www.tinker
cad.com/things/c
sHKG5XsYKH-copy-
of-autonomous-
robot/editel?share
code=ql2QMrxcYj
hDn2xXXXDCVy6n
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MI

2
Composants

3
 Le code (1/7)
#define mr1 6
#define mr2 5
#define ml1 9
#define ml2 10
#define servo_pulse 7
#define triger 8

#include <Servo.h>
int distance, select, pos=0;
Servo myservo;
void setup() {
Serial.begin(9600);
myservo.attach(7);
for(int i=0 ; i<11 ; i++)
{
pinMode(i, OUTPUT);
}
} 4
 Le code (2/7)
int getDistance()
// returns distance from Ping))) sensor in cm
{
int distance;
unsigned long pulseduration=0;
// get the raw measurement data from Ping
// set pin as output so we can send a pulse
pinMode(triger, OUTPUT);
// set output to LOW
digitalWrite(triger, LOW);
delayMicroseconds(5);
// send the 5uS pulse out to activate Ping)))
digitalWrite(triger, HIGH);
delayMicroseconds(5);
digitalWrite(triger, LOW);
// change the digital pin to input to read the incoming pulse
pinMode(triger, INPUT);
// measure the length of the incoming pulse
pulseduration=pulseIn(triger, HIGH);
// divide the pulse length in half
pulseduration=pulseduration/2;
// convert to centimeters
distance = int(pulseduration/29);
return distance;
} 5
 Le code (3/7)
void goForward(){

digitalWrite(mr1, HIGH);
digitalWrite(mr2, LOW);
digitalWrite(ml1, HIGH);
digitalWrite(ml2, LOW);
}
void goBack(){

digitalWrite(mr1,LOW);
digitalWrite(mr2, HIGH);
digitalWrite(ml1, LOW);
digitalWrite(ml2, HIGH);
} 6
 Le code (4/7)
void turnLeft()
{
digitalWrite(mr1, HIGH);
digitalWrite(mr2, LOW);
digitalWrite(ml1, LOW);
digitalWrite(ml2, HIGH);
}
void turnRight()
{
digitalWrite(mr1,LOW);
digitalWrite(mr2,HIGH);
digitalWrite(ml1,HIGH);
digitalWrite(ml2, LOW);
} 7
 Le code (5/7)
void STOP()
{
digitalWrite(mr1,LOW);
digitalWrite(mr2,LOW);
digitalWrite(ml1, LOW);
digitalWrite(ml2, LOW);
}
void loop()
{
Serial.print(distance);
myservo.write(90);
delay(15);
distance = int (getDistance());
Serial.print(distance);
while(distance >20 ) {
goForward();
distance=getDistance();
}
8
 Le code (6/7)
while(distance <= 20)
{
STOP();
delay(1000);
myservo.write(pos);
select = pos;
pos+=45;
if(pos == 225)
pos = 0;
distance=getDistance();
}
myservo.write(90);

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switch(select){
Le code (7/7)
case 0:
turnLeft();
delay(250);
STOP();
break;
case 45 :
turnLeft();
delay(500);
STOP();
break;
case 135 :
turnRight();
delay(250);
STOP();
break;
case 180 :
turnRight();
delay(500);
STOP();
break;
}
} 10
Exercices
1.Testez l’exercice de laboratoire.
2.Modifiez le code pour que le robot soit placé dans un
territoire carré et qu'il le scanne progressivement, de
gauche à droite.
3.Modifiez le code précédent, de sorte que le robot scanne
les diagonales du carré.

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